mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 00:38:00 -06:00
Keenan D. Buckley
139 lines
6.1 KiB
Java
139 lines
6.1 KiB
Java
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.robot;
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import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
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import frc4388.utility.LEDPatterns;
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/**
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* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
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* constants. This class should not be used for any other purpose. All constants should be
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* declared globally (i.e. public static). Do not put anything functional in this class.
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*
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* <p>It is advised to statically import this class (or one of its inner classes) wherever the
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* constants are needed, to reduce verbosity.
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*/
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public final class Constants {
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public static final class DriveConstants {
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/* Drive Train IDs */
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public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
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public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4;
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public static final int DRIVE_LEFT_BACK_CAN_ID = 3;
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public static final int DRIVE_RIGHT_BACK_CAN_ID = 5;
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public static final int PIGEON_ID = 6;
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/* PID Constants Drive*/
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public static final int DRIVE_TIMEOUT_MS = 30;
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public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.3);
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public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.2, 0.025, 0, 0.05);
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public static final Gains DRIVE_TURNING_GAINS = new Gains(0.5, 0.0, 0.05, 0.0, 0, 0.5);
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//public static final Gains DRIVE_MOTION_MAGIC_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
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//public static final int DRIVE_CRUISE_VELOCITY = 20000;
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//public static final int DRIVE_ACCELERATION = 7000;
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/* Trajectory Constants */
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public static final double MAX_SPEED_METERS_PER_SECOND = 3;
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public static final double MAX_ACCELERATION_METERS_PER_SECOND_SQUARED = 3;
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public static final double TRACK_WIDTH_METERS = 0.648;
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public static final DifferentialDriveKinematics kDriveKinematics = new DifferentialDriveKinematics(TRACK_WIDTH_METERS);
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/* Remote Sensors */
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public final static int REMOTE_0 = 0;
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public final static int REMOTE_1 = 1;
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/* PID Indexes */
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public final static int PID_PRIMARY = 0;
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public final static int PID_TURN = 1;
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/* PID SLOTS */
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public final static int SLOT_DISTANCE = 0;
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public final static int SLOT_VELOCITY = 1;
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public final static int SLOT_TURNING = 2;
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public final static int SLOT_MOTION_MAGIC = 3;
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/* Drive Train Characteristics */
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public static final double TICKS_PER_MOTOR_REV = 2048;
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public static final double MOTOR_ROT_PER_WHEEL_ROT = 5.13;
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public static final double WHEEL_DIAMETER_INCHES = 6;
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public static final double TICKS_PER_GYRO_REV = 8192;
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/* Ratio Calculation */
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public static final double TICK_TIME_TO_SECONDS = 0.1;
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public static final double SECONDS_TO_TICK_TIME = 1/TICK_TIME_TO_SECONDS;
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public static final double WHEEL_ROT_PER_MOTOR_ROT = 1/MOTOR_ROT_PER_WHEEL_ROT;
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public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_ROT_PER_WHEEL_ROT;
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public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
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public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV/INCHES_PER_WHEEL_REV;
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public static final double INCHES_PER_TICK = 1/TICKS_PER_INCH;
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public static final double INCHES_PER_METER = 39.370;
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public static final double METERS_PER_INCH = 1/INCHES_PER_METER;
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}
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public static final class IntakeConstants {
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public static final int INTAKE_SPARK_ID = 9;
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public static final int EXTENDER_SPARK_ID = 10;
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}
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public static final class ShooterConstants {
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public static final int SHOOTER_FALCON_ID = 8;
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/* PID Constants Shooter */
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public static final int SHOOTER_SLOT_IDX = 0;
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public static final int SHOOTER_PID_LOOP_IDX = 1;
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public static final int SHOOTER_TIMEOUT_MS = 30;
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public static final Gains SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
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public static final double ENCODER_TICKS_PER_REV = 2048;
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}
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public static final class ClimberConstants {
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public static final int CLIMBER_SPARK_ID = 10;
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}
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public static final class LevelerConstants {
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public static final int LEVELER_CAN_ID = -1;
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}
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public static final class StorageConstants {
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public static final int STORAGE_CAN_ID = 10;
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/* Ball Indexes */
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public static final int BEAM_SENSOR_DIO_0 = 0;
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public static final int BEAM_SENSOR_DIO_1 = 1;
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public static final int BEAM_SENSOR_DIO_2 = 2;
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public static final int BEAM_SENSOR_DIO_3 = 3;
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public static final int BEAM_SENSOR_DIO_4 = 4;
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public static final int BEAM_SENSOR_DIO_5 = 5;
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/* PID Values */
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public static final int SLOT_DISTANCE = 0;
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/* PID Indexes */
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public static final int PID_PRIMARY = 0;
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/* PID Gains */
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public static final double storP = 0.1;
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public static final double storI = 1e-4;
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public static final double storD = 1.0;
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public static final double storIz = 0.0;
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public static final double storF = 0.0;
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public static final double storkmaxOutput = 1.0;
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public static final double storkminOutput = -1.0;
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}
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public static final class LEDConstants {
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public static final int LED_SPARK_ID = 0;
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public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
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}
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public static final class OIConstants {
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public static final int XBOX_DRIVER_ID = 0;
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public static final int XBOX_OPERATOR_ID = 1;
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}
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}
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